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@Article{Ackermann1995,
  Title                    = {Linear and nonlinear controller design for robust automatic steering},
  Author                   = {Ackermann, J. and Guldner, J. and Sienel, W. and Steinhauser, R. and Utkin, V.I.},
  Journal                  = {Control Systems Technology, IEEE Transactions on},
  Year                     = {1995},

  Month                    = {mar},
  Number                   = {1},
  Pages                    = {132 -143},
  Volume                   = {3},

  Abstract                 = {For an automatic steering problem of a city bus the reference maneuvers and specifications are introduced. The robustness problem arises from large variations in velocity, mass, and road-tire contact. Two controller structures, both with feedback of the lateral displacement and the yaw rate, are introduced: a linear controller and a nonlinear controller. The controller parameters are first hand-tuned and then refined by performance vector optimization. Both controllers meet all specifications. Their relative merits are analyzed in simulations for four typical driving maneuvers},
  Doi                      = {10.1109/87.370719},
  ISSN                     = {1063-6536},
  Keywords                 = {city bus;driving maneuvers;feedback;lateral displacement;linear controller;nonlinear controller;performance vector optimization;robust automatic steering;yaw rate;linear systems;nonlinear control systems;optimisation;road vehicles;robust control;vectors;},
  Owner                    = {Georg},
  Timestamp                = {2012.11.27}
}

@Book{Adamy2014,
  Title                    = {Nichtlineare Systeme und Regelungen},
  Author                   = {Adamy, Jürgen},
  Publisher                = {Springer Berlin Heidelberg},
  Year                     = {2014},

  Doi                      = {10.1007/978-3-642-45013-6},
  Owner                    = {Georg},
  Timestamp                = {2015.02.12}
}

@InCollection{Adamy2014a,
  Title                    = {Grundlagen nichtlinearer Systeme},
  Author                   = {Adamy, Jürgen},
  Booktitle                = {Nichtlineare Systeme und Regelungen},
  Publisher                = {Springer Berlin Heidelberg},
  Year                     = {2014},
  Pages                    = {1-43},

  Doi                      = {10.1007/978-3-642-45013-6_1},
  ISBN                     = {978-3-642-45012-9},
  Language                 = {German},
  Owner                    = {Georg},
  Url                      = {http://dx.doi.org/10.1007/978-3-642-45013-6_1}
}

@Book{Adamy2009,
  Title                    = {Nichtlineare Regelungen},
  Author                   = {Jürgen Adamy},
  Publisher                = {Springer Berlin Heidelberg},
  Year                     = {2009},

  Doi                      = {http://dx.doi.org/10.1007/978-3-642-00794-1},
  ISBN                     = {978-3-642-00793-4},
  Owner                    = {Georg},
  Timestamp                = {2012.11.22}
}

@Article{Adamy2004,
  Title                    = {Soft variable-structure controls: a survey },
  Author                   = {J. Adamy and A. Flemming},
  Journal                  = {Automatica },
  Year                     = {2004},
  Number                   = {11},
  Pages                    = {1821 - 1844},
  Volume                   = {40},

  Abstract                 = {Variable-structure controls are normally understood to be controls that have sliding modes and robustness as their main objective. In addition to sliding-mode controls, there are also variable-structure controls, which were developed for the purpose of intentionally precluding sliding modes and achieving high regulation rates and short settling times. Two types of such controls may be distinguished, variable-structure controls that switch between different parameters and a systematic further development of them called “soft variable-structure controls” that continuously vary controllers' parameters or structures and achieve nearly time-optimal control performance. This paper surveys soft variable-structure controls, compares them to other controls, taking a submarine dive-control as an example, and presents an outlook on their auspicious further development. },
  Doi                      = {http://dx.doi.org/10.1016/j.automatica.2004.05.017},
  ISSN                     = {0005-1098},
  Keywords                 = {Nonlinear control},
  Owner                    = {Georg},
  Url                      = {http://www.sciencedirect.com/science/article/pii/S0005109804001761}
}

@Article{Ang2005,
  Title                    = {PID control system analysis, design, and technology},
  Author                   = {Kiam Heong Ang and Chong, G. and Yun Li},
  Journal                  = {Control Systems Technology, IEEE Transactions on},
  Year                     = {2005},

  Month                    = {July},
  Number                   = {4},
  Pages                    = {559-576},
  Volume                   = {13},

  Abstract                 = {Designing and tuning a proportional-integral-derivative (PID) controller appears to be conceptually intuitive, but can be hard in practice, if multiple (and often conflicting) objectives such as short transient and high stability are to be achieved. Usually, initial designs obtained by all means need to be adjusted repeatedly through computer simulations until the closed-loop system performs or compromises as desired. This stimulates the development of "intelligent" tools that can assist engineers to achieve the best overall PID control for the entire operating envelope. This development has further led to the incorporation of some advanced tuning algorithms into PID hardware modules. Corresponding to these developments, this paper presents a modern overview of functionalities and tuning methods in patents, software packages and commercial hardware modules. It is seen that many PID variants have been developed in order to improve transient performance, but standardising and modularising PID control are desired, although challenging. The inclusion of system identification and "intelligent" techniques in software based PID systems helps automate the entire design and tuning process to a useful degree. This should also assist future development of "plug-and-play" PID controllers that are widely applicable and can be set up easily and operate optimally for enhanced productivity, improved quality and reduced maintenance requirements.},
  Doi                      = {10.1109/TCST.2005.847331},
  ISSN                     = {1063-6536},
  Keywords                 = {closed loop systems;control system analysis;control system synthesis;stability;three-term control;PID control system analysis;PID control system design;PID hardware;closed-loop system;commercial hardware modules;patented PID tuning rules;proportional-integral-derivative control;software packages;Automatic control;Computer simulation;Control system analysis;Hardware;Pi control;Proportional control;Software packages;Stability;System identification;Three-term control;PID hardware;PID software;PID tuning;Patents;proportional-integral-derivative (PID) control},
  Owner                    = {Georg}
}

@Article{Bachmann1951,
  Title                    = {Die Klothoide als Übergangskurve im Strassenbau},
  Author                   = {E. Bachmann},
  Journal                  = {Schweizerische Zeitschrift für Vermessung, Kulturtechnik und Photogrammetrie},
  Year                     = {1951},
  Number                   = {6},
  Pages                    = {133-140},
  Volume                   = {49},

  Doi                      = {10.5169/seals-208340},
  Owner                    = {Georg},
  Timestamp                = {2015.04.23}
}

@InProceedings{Benine-Neto2010,
  Title                    = {Dynamic controller for lane keeping and obstacle avoidance assistance system},
  Author                   = {Benine-Neto, A. and Scalzi, S. and Mammar, S. and Netto, M.},
  Booktitle                = {2010 13th International IEEE Conference on Intelligent Transportation Systems (ITSC)},
  Year                     = {2010},
  Month                    = {sept.},
  Pages                    = {1363 -1368},

  Abstract                 = {This paper presents the design and simulation tests of a steering assistance for passenger vehicles based on a dynamic state feedback controller. Its main purpose is to avoid unintended lane departure and collisions. The design of the proposed lane keeping system takes into account the road curvature, considered as an exogenous input, into its internal model. The computation of the control law has been achieved by linking Lyapunov theory of stability to Bilinear Matrix Inequalities which considers bounds in the control input and minimises the reachable set of the vehicle after activation. This control strategy ensures convergence of the lateral offset to zero, even in curvy roads. Simulations show the performance of the controller and an extended application for collision avoidance.},
  Doi                      = {10.1109/ITSC.2010.5625021},
  ISSN                     = {2153-0009},
  Keywords                 = {Lyapunov theory;bilinear matrix inequality;collision avoidance;control law;control strategy;curvy roads;dynamic controller;dynamic state feedback controller;lane collisions;lane departure;lane keeping system;obstacle avoidance assistance system;passenger vehicles;road curvature;stability;steering assistance;Lyapunov methods;collision avoidance;linear matrix inequalities;road safety;road traffic;road vehicles;state feedback;},
  Owner                    = {Georg},
  Review                   = {Reglerentwurf mittels Optimierungsproblem für lineares Einspurmodell.},
  Timestamp                = {2012.06.18}
}

@Article{Bernsteiner2015,
  Title                    = {Radarsensormodell für den virtuellen Entwicklungsprozess},
  Author                   = {Bernsteiner, Stefan and Magosi, Zoltan and Lindvai-Soos, Daniel and Eichberger, Arno},
  Journal                  = {ATZelektronik},
  Year                     = {2015},
  Number                   = {2},
  Pages                    = {72-79},
  Volume                   = {10},

  Abstract                 = {Die in Realität praktisch unendliche Anzahl an möglichen Situationen im Straßenverkehr stellt die Entwicklung und Integration von Fahrerassistenzsystemen, speziell die umwelterfassende Sensorik, vor eine große Herausforderung. In einer Kooperation zwischen dem Institut für Fahrzeugtechnik der TU Graz und Magna Steyr Engineering wurde ein Radarsensormodell entwickelt, das bereits in der Konzeptphase verwendet werden kann und somit eine zeiteffi ziente Abwicklung des Entwicklungsprozesses gewährleistet.},
  Doi                      = {10.1007/s35658-015-0508-y},
  ISSN                     = {1862-1791},
  Language                 = {German},
  Owner                    = {Georg},
  Publisher                = {Springer Automotive Media},
  Timestamp                = {2015.04.16},
  Url                      = {http://dx.doi.org/10.1007/s35658-015-0508-y}
}

@Patent{Binzer2012,
  Title                    = {Radar Sensor for Motor Vehicles},
  Number                   = {WO2012089385 (A1)},
  Year                     = {2012},
  Assignee                 = {Robert Bosch Gmbh; Binzer, Thomas; Gross, Volker; Hellinger, Raphael; Treptow, Andre},
  Author                   = {Binzer, Thomas and Gross, Volker and Hellinger, Raphael and Treptow, Andre},
  Language                 = {de},
  Month                    = jul,
  Note                     = {CIB: G01S13/48; G01S13/93; H01Q1/32; H01Q13/20; H01Q21/06},
  Url                      = {http://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20120705&DB=&locale=de_EP&CC=WO&NR=2012089385A1&KC=A1&ND=6},

  Abstract                 = {Radar sensor for motor vehicles, having an antenna arrangement (Rx, Tx1, Tx2) which can be actuated by a control device (28) in such a way that it has a chronologically varying directional characteristic, and having an evaluation device (26) for evaluating the radar echoes received by the antenna arrangement and for locating objects with angular resolution, characterized in that the antenna arrangement has at least two groups (Tx1, Tx2) of antenna elements (12, 14) which differ in elevation in terms of their direction of action, in that the control device (28) is designed to activate and deactivate the two groups (Tx1, Tx2) alternately, and in that the evaluation device (26) is designed to estimate the elevation angle (a) of the objects (22) by means of a contrast (K) between the radar echoes received by the various groups (Tx1, Tx2).},
  Owner                    = {Georg},
  Urldate                  = {2015-03-10}
}

@PhdThesis{Brandtstaedter2009,
  Title                    = {Sliding Mode Control of Electromechanical Systems},
  Author                   = {Brandtstädter, Heide},
  School                   = {Technische Universität München},
  Year                     = {2009},

  Address                  = {München},
  Type                     = {Dissertation},

  Abstract                 = {Sliding mode control provides insensitivity to parameter variations and disturbances. These robustness properties make this discontinuous control strategy very attractive. However, its implementation in the presence of unmodeled dynamics leads to high-frequency oscillations termed chattering. This effect degrades the control performance and might damage the system. Many current implementations suffer from this drawback.
In this thesis, a novel sliding mode control strategy for mechanical systems with electric motors as actuators is proposed. The chattering problem is tackled by including actuator dynamics, which has so far been ignored, in the control unit design. The switching control law incorporates the dynamics of the electrical and the mechanical subsystem. The pulse width modulation (PWM) used in most present day implementations is eliminated and the controller directly drives the power switches. Hence, the discontinuous control inputs are the switched voltages applied to the motor.
In addition, a comprehensive methodology to realize the proposed control scheme is developed. It allows the systematic design of sliding mode controllers for complex electromechanical systems. Compared to the existing design procedures, it is applicable to a wider class of systems. It can handle nonlinear systems governed by a set of coupled differential equations of arbitrary order in canonical form, as well as infinite dimensional systems. This thesis identifies and solves implementation issues of the generalized block control principle. Presented are necessary observers and a method to reject disturbances with known structure.
The complete design procedure is illustrated by controlling an inverted pendulum system driven by a DC and a synchronous motor, as well as an induction machine. Simulations and experiments demonstrate the high performance and the robustness of the proposed control architecture. An essential contribution of this thesis is the position control of an induction machine that lays a foundation for building more robust and inexpensive robotic systems.},
  Keywords                 = {sliding mode control, electromechanical systems, position control of induction machines},
  Owner                    = {Georg},
  Url                      = {http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:91-diss-20080723-667446-1-9}
}

@Book{Bronstein08,
  Title                    = {Taschenbuch der Mathematik},
  Author                   = {Bronstein, I.N. and Semendjajew, K.A. and Musiol, G. and Mühlig, H.},
  Editor                   = {Musiol, G. and Mühlig, H.},
  Publisher                = {Verlag Harri Deutsch},
  Year                     = {2008},

  ISBN                     = {978-3-8171-2007-9},
  Owner                    = {Georg},
  Timestamp                = {2013.03.25}
}

@Article{Cerone2009,
  Title                    = {Combined Automatic Lane-Keeping and Driver's Steering Through a 2-DOF Control Strategy},
  Author                   = {Cerone, V. and Milanese, M. and Regruto, D.},
  Journal                  = {IEEE Transactions on Control Systems Technology},
  Year                     = {2009},

  Month                    = {jan},
  Number                   = {1},
  Pages                    = {135-142},
  Volume                   = {17},

  Abstract                 = {In this paper, we address the problem of combining automatic lane-keeping and driver's steering for either obstacle avoidance or lane-change maneuvers for passing purposes or any other desired maneuvers, through a closed-loop control strategy. The automatic lane-keeping control loop is never opened, and no on/off switching strategy is used. During the driver's maneuver, the vehicle lateral dynamics are controlled by the driver himself through the vehicle steering system. When there is no driver's steering action, the vehicle center of gravity tracks the center of the traveling lane thanks to the automatic lane-keeping system. At the beginning (end) of the maneuver, the lane-keeping task is released (resumed) safely and smoothly. The performance of the proposed closed-loop structure is shown both by means of simulations and through experimental results obtained along Italian highways.},
  Doi                      = {10.1109/TCST.2008.924558},
  ISSN                     = {1063-6536},
  Keywords                 = {closed loop systems;collision avoidance;motion control;road vehicles;2-DOF control strategy;automatic lane-keeping control loop;closed-loop control strategy;lane-change maneuvering;obstacle avoidance;vehicle lateral dynamics control;vehicle steering system;automatic lane-keeping;driver's steering;lane-change;two-degrees-of-freedom (2-DOF) control;vehicle lateral control},
  Owner                    = {Georg}
}

@InProceedings{Chaib2004,
  Title                    = {$H_\infty$, Adaptive, PID and fuzzy control: a comparison of controllers for vehicle lane keeping},
  Author                   = {Chaib, S. and Netto, M.S. and Mammar, S.},
  Booktitle                = {2004 IEEE Intelligent Vehicles Symposium},
  Year                     = {2004},
  Month                    = {jun},
  Pages                    = { 139 - 144},

  Abstract                 = {We provide, in this paper an overview as well as a comparison of four controllers for the vehicle lateral control problem. H infin;, adaptive, fuzzy and PID controllers are compared by simulations over a test track circuit. Curvature and wind perturbations as well as variations on the speed and on the adherence coefficient are introduced in the simulations.},
  Doi                      = {10.1109/IVS.2004.1336370},
  Keywords                 = {PID controller; adaptive controller; adherence coefficient; curvature perturbation; fuzzy controller; output feedback; test track circuit; vehicle lane keeping controller; vehicle lateral control problem; wind perturbation; H infin; controller; adaptive control; feedback; fuzzy control; perturbation techniques; three-term control; vehicles;},
  Owner                    = {Georg},
  Review                   = {Adaptiver Regler erzielt die besten Resultate, PID die schlechtesten. H_inf und Fuzzy liegen gleichauf im Mittelfeld.},
  Timestamp                = {2012.06.18}
}

@InProceedings{Chitu2011,
  Title                    = {A robust and optimal LQR controller design for Electric Power Steering system},
  Author                   = {Chitu, C. and Lackner, J. and Horn, M. and Waser, H. and Kohlbock, M.},
  Booktitle                = {2011 Joint 3rd Int'l Workshop on Nonlinear Dynamics and Synchronization (INDS) 16th Int'l Symposium on Theoretical Electrical Engineering (ISTET)},
  Year                     = {2011},
  Month                    = {july},
  Pages                    = {1 -5},

  Abstract                 = {This paper presents a Linear Quadratic Regulator (LQR) employed to improve performance of an Electric Power Steering (EPS) system. Generally, EPS is a full electric system having an electric motor which provides the assist torque on the steering mechanism in order to reduce the workload and to enhance the steering feel of the driver during steering process. Three main technical areas are described in this paper. First, the principle and structure of EPS are presented including the dynamic model. Second, LQR technique is employed to derive an optimal controller for the EPS system. Finally, the combined tools of Matlab/Simulink and dSPACE provide the environment for modeling the controller in software and applying it to the actual hardware via a digital signal processing board based on the DS1401 Micro Auto Box. Comparison and analysis between the simulation results and dSPACE hardware results are discussed.},
  Doi                      = {10.1109/INDS.2011.6024779},
  Keywords                 = {DS1401 Micro Auto Box;Matlab/Simulink;dSPACE;electric motor;electric power steering system;linear quadratic regulator;optimal LQR controller;robust LQR controller;steering mechanism;control system synthesis;linear quadratic control;mechanical variables control;road vehicles;robust control;steering systems;},
  Owner                    = {Georg},
  Timestamp                = {2012.11.21}
}

@InProceedings{Drakunov1995,
  Title                    = {Sliding mode observers. Tutorial},
  Author                   = {Drakunov, S. and Utkin, V.},
  Booktitle                = {Decision and Control, 1995., Proceedings of the 34th IEEE Conference on},
  Year                     = {1995},
  Month                    = {Dec},
  Pages                    = {3376-3378 vol.4},
  Volume                   = {4},

  Abstract                 = {Discusses the problem of designing observers for state estimation using sliding modes. The theory and design principles are presented for linear and nonlinear systems. For linear systems the observers are developed using a block-observable form which is similar to a lower triangular matrix form. Compared with known approaches such observers have better robustness properties. In the case of nonlinear systems an equivalent control concept makes it possible to develop finite-time observers for a wide class of systems.},
  Doi                      = {10.1109/CDC.1995.479009},
  ISSN                     = {0191-2216},
  Keywords                 = {linear systems;matrix algebra;nonlinear systems;observers;variable structure systems;block-observable form;linear systems;lower triangular matrix form;nonlinear systems;sliding mode observers;state estimation;Control systems;Equations;Linear systems;Nonlinear control systems;Nonlinear systems;Observers;Robustness;State estimation;Tutorial;Vectors},
  Owner                    = {Georg}
}

@Conference{Eichberger2008,
  Title                    = {Retrospektive Bewertung der Effektivität unterschiedlicher Fahrassistenzsysteme bei tödlichen Verkehrsunfällen},
  Author                   = {Eichberger, A. and Tomasch, E.},
  Booktitle                = {VDI/VW-Gemeinschaftstagung},
  Year                     = {2008},

  Address                  = {Wolfsburg},
  Editor                   = {VDI},
  Month                    = {oct},
  Pages                    = {1-15},

  Owner                    = {Georg},
  Timestamp                = {2013.04.26}
}

@Article{Falcone2007,
  Title                    = {Predictive Active Steering Control for Autonomous Vehicle Systems},
  Author                   = {Falcone, P. and Borrelli, F. and Asgari, J. and Tseng, H.E. and Hrovat, D.},
  Journal                  = {Control Systems Technology, IEEE Transactions on},
  Year                     = {2007},

  Month                    = {May},
  Number                   = {3},
  Pages                    = {566-580},
  Volume                   = {15},

  Abstract                 = {In this paper, a model predictive control (MPC) approach for controlling an active front steering system in an autonomous vehicle is presented. At each time step, a trajectory is assumed to be known over a finite horizon, and an MPC controller computes the front steering angle in order to follow the trajectory on slippery roads at the highest possible entry speed. We present two approaches with different computational complexities. In the first approach, we formulate the MPC problem by using a nonlinear vehicle model. The second approach is based on successive online linearization of the vehicle model. Discussions on computational complexity and performance of the two schemes are presented. The effectiveness of the proposed MPC formulation is demonstrated by simulation and experimental tests up to 21 m/s on icy roads},
  Doi                      = {10.1109/TCST.2007.894653},
  ISSN                     = {1063-6536},
  Keywords                 = {computational complexity;position control;predictive control;remotely operated vehicles;robot dynamics;stability;steering systems;autonomous vehicle systems;computational complexity;model predictive control;nonlinear vehicle model;predictive active steering control;vehicle dynamics control;Computational complexity;Computational modeling;Control systems;Mobile robots;Predictive control;Predictive models;Remotely operated vehicles;Roads;Steering systems;Testing;Active steering;autonomous vehicles;model predictive control;nonlinear optimization;vehicle dynamics control;vehicle stability},
  Owner                    = {Georg}
}

@Patent{Focke2004,
  Title                    = {Device for Measuring Angle Positions},
  Number                   = {DE10256524 (A1) Zusammenfassung der korrespondierenden Patentschrift WO2004051308 (A1)},
  Year                     = {2004},
  Assignee                 = {Robert Bosch Gmbh},
  Author                   = {Focke, Thomas and Hansen, Thomas and Schneider, Martin and Schoebel, Joerg and Gross, Volker and Brueggemann, Oliver},
  Language                 = {de},
  Month                    = jul,
  Note                     = {CIB: G01S13/44; G01S7/03; G01S13/42; (IPC1-7): G01S13/44; G01S7/03},
  Url                      = {http://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20040701&DB=&locale=de_EP&CC=DE&NR=10256524A1&KC=A1&ND=4},

  Abstract                 = {Disclosed is a device for measuring angle positions by means of radar pulses and overlapping beam characteristics of at least two antenna elements (1, 2). A phase advancer (3) which can be shifted in time-division multiplex between different phase states is provided in the signal path of at least one antenna element. An evaluation device (7) is provided for the received radar signals in order to jointly and especially simultaneously evaluating signals of two antenna elements (1, 2) with the aid of the antenna element (2), in the signal path of which the shiftable phase advancer (3) is provided.},
  Owner                    = {Georg},
  Urldate                  = {2015-03-10}
}

@Article{Francis1976,
  Title                    = {The internal model principle of control theory},
  Author                   = {B.A. Francis and W.M. Wonham},
  Journal                  = {Automatica},
  Year                     = {1976},

  Month                    = {sep},
  Number                   = {5},
  Pages                    = {457 - 465},
  Volume                   = {12},

  Abstract                 = {The classical regulator problem is posed in the context of linear, time-invariant, finite-dimensional systems with deterministic disturbance and reference signals. Control action is generated by a compensator which is required to provide closed loop stability and output regulation in the face of small variations in certain system parameters. It is shown, using the geometric approach, that such a structurally stable synthesis must utilize feedback of the regulated variable, and incorporate in the feedback path a suitably reduplicated model of the dynamic structure of the disturbance and reference signals. The necessity of this control structure constitutes the Internal Model Principle. It is shown that, in the frequency domain, the purpose of the internal model is to supply closed loop transmission zeros which cancel the unstable poles of the disturbance and reference signals. Finally, the Internal Model Principle is extended to weakly nonlinear systems subjected to step disturbances and reference signals.},
  Doi                      = {10.1016/0005-1098(76)90006-6},
  ISSN                     = {0005-1098},
  Owner                    = {Georg},
  Timestamp                = {2012.12.14}
}

@InCollection{Winner2012_LKS,
  Title                    = {Lane Keeping Support},
  Author                   = {Gayko, Jens},
  Booktitle                = {Handbuch Fahrerassistenzsysteme},
  Publisher                = {Vieweg+Teubner Verlag},
  Year                     = {2012},
  Chapter                  = {35},
  Editor                   = {Winner, Hermann and Hakuli, Stephan and Wolf, Gabriele},
  Pages                    = {554-561},

  Abstract                 = {Während längerer Fahrten auf autobahnähnlichen Straßen wird die Fahraufgabe des Spurhaltens von vielen Fahrern als lästig empfunden. Andererseits stellt das unbeabsichtigte Verlassen des Fahrstreifens eine häufige Unfallursache dar, wie bereits in Kapitel 34 beschrieben. Im Gegensatz zu der im vorigen Kapitel dargelegten Funktion des Lane Departure Warning (LDW) greift die hier beschriebene Spurhalteassistenz bzw. Lane Keeping Support (LKS) aktiv in das Lenksystem ein. Dadurch wird der Fahrer bei der Fahraufgabe des Spurhaltens unterstützt. Ziel dieser Funktion ist, je nach Auslegung, eine Erhöhung der Sicherheit, eine Erhöhung des Fahrkomforts oder eine Kombination beider Ziele. Ein wichtiges Merkmal der hier beschriebenen Systeme ist die Art der Assistenz, die über Warnungen hinausgeht, jedoch keine den Fahrer ersetzende Assistenz darstellt. Die motorische Ausführung der Lenkung des Fahrzeugs erfolgt somit durch den Fahrer und das LKS-System zugleich. Das Einsatzgebiet der heute verfügbaren Systeme erstreckt sich über autobahnähnliche Straßen in mittleren bis hohen Geschwindigkeiten und sichtbaren Markierungen der Fahrstreifen},
  Doi                      = {10.1007/978-3-8348-8619-4_36},
  ISBN                     = {978-3-8348-1457-9},
  Language                 = {German},
  Owner                    = {Georg},
  Timestamp                = {2013.01.13}
}

@Manual{CarMaker_RefMan_v4.5.4,
  Title                    = {CarMaker Reference Manual Version 4.5.4},
  Author                   = {IPG Automotive GmbH},
  Edition                  = {Version 4.5.4},
  Year                     = {2014},

  Owner                    = {Georg},
  Timestamp                = {2015.08.21}
}

@Manual{CarMaker_RefManualv4,
  Title                    = {CarMaker Reference Manual Version 4.0},
  Author                   = {IPG Automotive GmbH},
  Edition                  = {Version 4.0},
  Year                     = {2012},

  Owner                    = {Georg},
  Timestamp                = {2012.12.11}
}

@Misc{Bosch_MPC,
  Author                   = {Robert Bosch GmbH},
  HowPublished             = {Online},

  Comment                  = {Abgerufen am 13.01.2013},
  Owner                    = {Georg},
  Timestamp                = {2013.01.13},
  Url                      = {http://www.bosch-automotivetechnology.com/de/de/component/SF_PC_DA_Lane-Assist_SF_PC_Driver-Assistance-Systems_1858.html?compId=2880}
}

@Book{Gruber2007,
  Title                    = {Vermessungstechnische Grundaufgaben},
  Author                   = {Gruber, Franz Josef and Joeckel, Rainer},
  Publisher                = {Teubner},
  Year                     = {2007},

  Doi                      = {10.1007/978-3-8351-9106-8},
  Owner                    = {Georg},
  Timestamp                = {2015.02.13}
}

@Article{Hagenmeyer2004,
  Title                    = {Flachheitsbasierter Entwurf von linearen und nichtlinearen Vorsteuerungen (Flatness-based Design of Linear and Nonlinear Feedforward Controls)},
  Author                   = {Hagenmeyer, Veit and Zeitz, Michael},
  Journal                  = {at - Automatisierungstechnik},
  Year                     = {2004},

  Month                    = {Jan},
  Number                   = {1-2004},
  Pages                    = {3-12},
  Volume                   = {52},
  Abstract                 = {Modellbasierte Vorsteuerungen werden zur gezielten Beeinflussung des Führungsverhaltens einer Regelung verwendet. Nominale Vorsteuerungen benötigen das inverse Modell der Regelstrecke. Die damit zusammenhängenden Probleme der Realisierbarkeit einer Vorsteuerung und deren Instabilität im Fall von nichtminimalphasigen Strecken können für flache Systeme gelöst werden. Dabei werden die Solltrajektorien der Steuerung und Regelung in den Koordinaten des flachen Ausgangs geplant. Der flachheitsbasierte Entwurf von linearen und nichtlinearen Vorsteuerungen wird beispielhaft für einen Arbeitspunktwechsel von SISO–Systemen erläutert und an einfachen Beispielen demonstriert.


Model-based feedforward control is used to obtain a better tracking performance of the control loop. Nominal feedforwards need the inverse model of the plant. The related problems of realizibility of a feedforward control and of its instability in case of non-minimum-phase systems are solved for flat systems. Thereby, the desired trajectories are planned in the coordinates of the flat output. The flatness-based design of linear and nonlinear feedforward control is exemplarily explained for a transition between two equilibrium points of SISO systems and illustrated by discussion of simple examples.},
  Doi                      = {10.1524/auto.52.1.3.25428},
  ISSN                     = {0178-2312},
  Keywords                 = {Regelkreis mit zwei Freiheitsgraden, differenzielle Flachheit, Trajektorienplanung, Arbeitspunktwechsel, interne Dynamik, inverses System
Twodegrees of freedom control, differential flatness, trajectoryplanning, transition between equilibrium points, internal dynamics, inverse system},
  Owner                    = {Georg},
  Publisher                = {Walter de Gruyter GmbH},
  Timestamp                = {2015.08.21},
  Url                      = {http://dx.doi.org/10.1524/auto.52.1.3.25428}
}

@Misc{Hölttä2004:35403,
  Title                    = {Rapid control prototyping tutorial with application examples},

  Author                   = {Hölttä and Vesa and Palmroth, Lauri and Eriksson, Lasse},
  Year                     = {2004},

  Edition                  = {30.10.2004},
  Owner                    = {Georg},
  Publisher                = {Sim-Serv},
  Url                      = {http://www.sim-serv.com/white_paper.php?i=0&ids_string=88}
}

@Book{HornDourdoumas2004,
  Title                    = {Regelungstechnik - Rechnerunterstützter Entwurf zeitkontinuierlicher und zeitdiskreter Regelkreise},
  Author                   = {Martin Horn and Nicolaos Dourdoumas},
  Publisher                = {Pearson Studium},
  Year                     = {2004},

  Abstract                 = {Regelungstechnik ist eine Fachdisziplin, die - reich an Theorie und Anwendung - ein breites Spektrum an Methoden für die Aufgaben eines Ingenieurs beinhaltet. Ihre fundierte Beherrschung und Anwendung wird in den verschiedensten Bereichen des täglichen Lebens verlangt, vom Automobil- und Flugzeugbau bis zur Mobilkommunikation. Sie hat einen festen Platz in Wissenschaft und Forschung.
Das vorliegende Buch bietet eine umfassende Einführung in das Gebiet der Regelungstechnik und setzt seinen Schwerpunkt auf die modernen rechnerunterstützten Entwurfsmöglichkeiten für Regelkreise. So stellen zahlreiche Beispiele und Fallstudien den Bezug zur Praxis her. Das Lehrbuch ist geeignet für einführende Vorlesungen, enthält jedoch auch eine Reihe von weiterführenden Verfahren.},
  ISBN                     = {3-8273-7059-0},
  Owner                    = {Georg},
  Timestamp                = {2013.04.28}
}

@Article{How2008,
  Title                    = {Real-time indoor autonomous vehicle test environment},
  Author                   = {How, J.P. and Bethke, B. and Frank, A. and Dale, D. and Vian, J.},
  Journal                  = {Control Systems, IEEE},
  Year                     = {2008},

  Month                    = {April},
  Number                   = {2},
  Pages                    = {51-64},
  Volume                   = {28},

  Abstract                 = {To investigate and develop unmanned vehicle systems technologies for autonomous multiagent mission platforms, we are using an indoor multivehicle testbed called real-time indoor autonomous vehicle test environment (RAVEN) to study long-duration multivehicle missions in a controlled environment. Normally, demonstrations of multivehicle coordination and control technologies require that multiple human operators simultaneously manage flight hardware, navigation, control, and vehicle tasking. However, RAVEN simplifies all of these issues to allow researchers to focus, if desired, on the algorithms associated with high-level tasks. Alternatively, RAVEN provides a facility for testing low-level control algorithms on both fixed- and rotary-wing aerial platforms. RAVEN is also being used to analyze and implement techniques for embedding the fleet and vehicle health state (for instance, vehicle failures, refueling, and maintenance) into UAV mission planning. These characteristics facilitate the rapid prototyping of new vehicle configurations and algorithms without requiring a redesign of the vehicle hardware. This article describes the main components and architecture of RAVEN and presents recent flight test results illustrating the applications discussed above.},
  Doi                      = {10.1109/MCS.2007.914691},
  ISSN                     = {1066-033X},
  Keywords                 = {aerospace robotics;aerospace testing;mobile robots;multi-robot systems;navigation;remotely operated vehicles;RAVEN environment;Real-time indoor Autonomous Vehicle test ENvironment;UAV mission planning;autonomous multiagent mission platform;controlled environment;fixed-wing aerial platform;flight test;indoor multivehicle testbed;long-duration multivehicle mission;low-level control algorithms;multivehicle control;multivehicle coordination;navigation;rapid prototyping;rotary-wing aerial platform;unmanned vehicle systems;vehicle configuration;vehicle failure;vehicle health state;vehicle maintenance;vehicle refueling;vehicle tasking;Control systems;Hardware;Humans;Mobile robots;Navigation;Real time systems;Remotely operated vehicles;System testing;Technology management;Unmanned aerial vehicles},
  Owner                    = {Georg}
}

@Book{Isermann2006,
  Title                    = {Fahrdynamik-Regelung: Modellbildung, Fahrerassistenzsysteme, Mechatronik},
  Author                   = {Rolf Isermann},
  Editor                   = {Rolf Isermann},
  Publisher                = {Vieweg},
  Year                     = {2006},

  Doi                      = {10.1007/978-3-8348-9049-8},
  Owner                    = {Georg},
  Timestamp                = {2015.03.04}
}

@TechReport{ISO11270,
  Title                    = {Intelligent transport systems --- Lane keeping assistance systems (LKAS) --- Performance requirements and test procedures},
  Author                   = {ISO},
  Institution              = {International Organization for Standardization},
  Year                     = {2014},
  Month                    = {may},
  Number                   = {11270},

  Abstract                 = {SO 11270:2014 contains the basic control strategy, minimum functionality requirements, basic driver interface elements, minimum requirements for diagnostics and reaction to failure, and performance test procedures for Lane Keeping Assistance Systems (LKAS). LKAS provide support for safe lane keeping operations by drivers and do not perform automatic driving nor prevent possible lane departures. The responsibility for the safe operation of the vehicle always remains with the driver. LKAS is intended to operate on highways and equivalent roads. LKAS consist of means for recognizing the location of the vehicle inside its lane and means for influencing lateral vehicle movement. LKAS should react consistently with the driver expectations with respect to the visible lane markings. The support at roadway sections having temporary or irregular lane markings (such as roadwork zones) is not within the scope of ISO 11270:2014. ISO 11270:2014 is applicable to passenger cars, commercial vehicles, and buses.},
  Owner                    = {Georg},
  Timestamp                = {2014.12.16}
}

@TechReport{ISO2575,
  Title                    = {Road vehicles -- Symbols for controls, indicators and tell-tales},
  Author                   = {ISO},
  Institution              = {International Organization for Standardization},
  Year                     = {2010},
  Number                   = {2575},

  Abstract                 = {ISO 2575:2010 specifies symbols (i.e. conventional signs) for use on controls, indicators and tell-tales applying to passenger cars, light and heavy commercial vehicles and buses, to ensure identification and facilitate use.

It also indicates the colours of possible optical tell-tales, which inform the driver of either correct operation or malfunctioning of the related devices},
  Owner                    = {Georg},
  Timestamp                = {2014.12.16}
}

@InProceedings{Keller2014,
  Title                    = {Driving simulator study on an emergency steering assist},
  Author                   = {Keller, M. and Hass, C. and Seewald, A. and Bertram, T.},
  Booktitle                = {Systems, Man and Cybernetics (SMC), 2014 IEEE International Conference on},
  Year                     = {2014},
  Month                    = {Oct},
  Pages                    = {3008-3013},

  Abstract                 = {This contribution is concerned with an emergency steering assist and its evaluation through subject testing in a driving simulator. In an emergency traffic situation where a rear end collision is imminent a swerving maneuver is often too difficult for most drivers. Therefore an assistance system is usefull that supports the driver by steering torque overlay. The paper presents the algorithm used for the assistance. The system was prototypically implemented in a driving simulator and testet with subjects to evaluate the benefits and challenges. The results show that the collision avoidance behaviour of the driver can be improved by the emergency steering assist.},
  Doi                      = {10.1109/SMC.2014.6974388},
  Keywords                 = {collision avoidance;emergency management;road traffic control;steering systems;torque;assistance system;control system;driver collision avoidance behaviour;driving simulator;emergency steering assist;emergency traffic situation;path planning;rear end collision;steering torque overlay;swerving maneuver;Collision avoidance;Roads;Switches;Torque;Vehicles;Wheels},
  Owner                    = {Georg}
}

@Article{Kiendl1992,
  Title                    = {Vector norms as Lyapunov functions for linear systems},
  Author                   = {Kiendl, H. and Adamy, J. and Stelzner, P.},
  Journal                  = {Automatic Control, IEEE Transactions on},
  Year                     = {1992},

  Month                    = {Jun},
  Number                   = {6},
  Pages                    = {839-842},
  Volume                   = {37},

  Abstract                 = {A unified theory of quadratic and piecewise-linear Lyapunov functions for continuous and discrete-time linear systems is presented. The key to this work is the description of these Lyapunov functions by vector norms. The main results are sufficient and necessary conditions for a vector norm to be a Lyapunov function as well as a method (based on these conditions) of constructing such Lyapunov functions},
  Doi                      = {10.1109/9.256362},
  ISSN                     = {0018-9286},
  Keywords                 = {Lyapunov methods;discrete time systems;linear systems;stability criteria;Lyapunov functions;continuous time linear systems;discrete-time linear systems;necessary conditions;sufficient conditions;unified theory;vector norms;Continuous time systems;Linear systems;Lyapunov method;Nonlinear control systems;Piecewise linear techniques;Shape;Stability;Vectors},
  Owner                    = {Georg}
}

@Article{Kohlhuber2015,
  Title                    = {Online-Modellbildung für Fahrdynamikregelsysteme beladungssensitiver Kleinfahrzeuge},
  Author                   = {Kohlhuber, Florian and Schneider, Elias and Lienkamp, Markus},
  Journal                  = {ATZ - Automobiltechnische Zeitschrift},
  Year                     = {2015},
  Number                   = {3},
  Pages                    = {40-43},
  Volume                   = {117},

  Abstract                 = {Zukünftige effiziente Fahrzeugkonzepte mit Leergewichten um 500 kg leiden unter einem hohen Einfluss alltäglicher Zuladung auf das fahrdynamische Verhalten. Die TU München arbeitet an Schätzverfahren, um während jeder Fahrt die wesentlichen jeweils gültigen Fahrzeugparameter zu ermitteln, um damit die Güte von Regelsystemen zu steigern.},
  Doi                      = {10.1007/s35148-015-0400-3},
  ISSN                     = {0001-2785},
  Language                 = {German},
  Owner                    = {Georg},
  Publisher                = {Springer Automotive Media},
  Url                      = {http://dx.doi.org/10.1007/s35148-015-0400-3}
}

@InProceedings{Kosecka1998,
  Title                    = {A comparative study of vision-based lateral control strategies for autonomous highway driving},
  Author                   = {Kosecka, J. and Blasi, R. and Taylor, C.J. and Malik, J.},
  Booktitle                = {IEEE International Conference on Robotics and Automation, 1998. Proceedings. 1998},
  Year                     = {1998},
  Month                    = {may},
  Pages                    = {1903 -1908 vol.3},
  Volume                   = {3},

  Abstract                 = {This paper will present the results of a comparative study of a set of vision-based control strategies that have been applied to the problem of steering an autonomous vehicle along a highway. The aim of this work has been to further our understanding of the characteristics of various control laws that could be applied to this problem with a view to making informed design decisions. The control strategies that we explored include a lead lag control law, a full-state linear controller and input-output linearizing control law. Each of these control strategies was implemented and tested on our experimental vehicle, a Honda Accord LX, both with and without a curvature feedforward component},
  Doi                      = {10.1109/ROBOT.1998.680590},
  Keywords                 = {Honda Accord LX;I/O linearizing control law;autonomous highway driving;autonomous vehicle;curvature feedforward component;full-state linear controller;input-output linearizing control law;lead lag control law;vision-based lateral control strategies;delays;linearisation techniques;mobile robots;road vehicles;robot vision;},
  Owner                    = {Georg},
  Timestamp                = {2012.11.21}
}

@InProceedings{Kosecka1997,
  Title                    = {Vision-based lateral control of vehicles},
  Author                   = {Kosecka, J. and Blasi, R. and Taylor, C.J. and Malik, J.},
  Booktitle                = {IEEE Conference on Intelligent Transportation System, 1997. ITSC '97.},
  Year                     = {1997},
  Month                    = {nov},
  Pages                    = {900 -905},

  Abstract                 = {We describe the problem of automated steering using computer vision, focusing the analysis and design on appropriate lateral controllers. We investigate various static feedback strategies where the measurements obtained from vision, namely offset from the center line at some lookahead distance and the angle between the road tangent and the orientation of the vehicle at some lookahead distance, are directly used for control. Within this setting we explore the role of lookahead, its relation to the vision processing delay, the longitudinal velocity and road geometry. Results from ongoing experiments with our autonomous vehicle system are presented along with simulation results},
  Doi                      = {10.1109/ITSC.1997.660593},
  Keywords                 = {automated steering;autonomous vehicle system;computer vision;feedback;lateral control;lookahead distance;road vehicles;computer vision;feedback;intelligent control;position control;road vehicles;},
  Owner                    = {Georg},
  Timestamp                = {2012.11.21}
}

@Article{Kusunoki1996,
  Title                    = {Vehicle lateral control development using laser radar to detect reflective lane markers},
  Author                   = {Kusunoki, Hideki and Komoda, Norio and Nakarnura, Mitsutaka and Goudy, Roy and Yasui, Yoshiyuki and Suzuki, Yoshinobu and Nakamura, Masahiko and Arai, Alan},
  Journal                  = {Vehicle System Dynamics},
  Year                     = {1996},
  Number                   = {sup1},
  Pages                    = {359-369},
  Volume                   = {25},

  Abstract                 = {SUMMARY Traffic accidents and congestion are problems which are becoming increasingly severe for automotive traffic and transportation systems. The prevention of severe accidents caused by a driver's inadvertent departure from the traffic lane presents a challenging problem due to the ever growing demands on the current vehicle and highway infrastructure. Inadvertent lane departure can be prevented by automatic lateral control of the vehicle, a component of an Automated Highway System (AHS), As a method of addressing this problem, we are developing a lateral control system which features the use of currently existing infrastructure elements such as reflective lane markers to provide a reference of the roadway ahead. A dynamic vehicle model including the tire characteristics and the steering actuator dynamics was developed to verify the performance of the lateral control algorithm. An important milestone was reached when the system was installed in an automobile and tested in an actual highway environment at typical highway speeds. Testing was conducted in cooperation with the California Department of Transportation (Caltrans) on the Interstate 15 High Occupancy Vehicle Express Lane near San Diego, California. This paper reports on our going development efforts to develop the lateral control system, especially the lateral control algorithm and the results from actual highway tests which indicate that a vehicle with a lateral control system can be controlled smoothly using a discrete marker control algorithm.},
  Doi                      = {10.1080/00423119608969206},
  Eprint                   = { 
 http://dx.doi.org/10.1080/00423119608969206
 
},
  Owner                    = {Georg},
  Url                      = { 
 http://dx.doi.org/10.1080/00423119608969206
 
}
}

@Article{Li2006,
  Title                    = {PID control system analysis and design},
  Author                   = {Yun Li and Kiam Heong Ang and Chong, G.C.Y.},
  Journal                  = {Control Systems, IEEE},
  Year                     = {2006},

  Month                    = {Feb},
  Number                   = {1},
  Pages                    = {32-41},
  Volume                   = {26},

  Abstract                 = {With its three-term functionality offering treatment of both transient and steady-state responses, proportional-integral-derivative (PID) control provides a generic and efficient solution to real-world control problems. The wide application of PID control has stimulated and sustained research and development to "get the best out of PID", and "the search is on to find the next key technology or methodology for PID tuning". This article presents remedies for problems involving the integral and derivative terms. PID design objectives, methods, and future directions are discussed. Subsequently, a computerized simulation-based approach is presented, together with illustrative design results for first-order, higher order, and nonlinear plants. Finally, we discuss differences between academic research and industrial practice, so as to motivate new research directions in PID control.},
  Doi                      = {10.1109/MCS.2006.1580152},
  ISSN                     = {1066-033X},
  Keywords                 = {control system analysis;control system synthesis;three-term control;transient response;PID control system analysis;computerized simulation-based approach;proportional-integral-derivative control;steady-state response;transient response;Computational modeling;Computer simulation;Control system analysis;Design methodology;Industrial control;Pi control;Proportional control;Research and development;Steady-state;Three-term control},
  Owner                    = {Georg}
}

@Article{Luenberger1964,
  Title                    = {Observing the State of a Linear System},
  Author                   = {Luenberger, D.G.},
  Journal                  = {Military Electronics, IEEE Transactions on},
  Year                     = {1964},

  Month                    = {April},
  Number                   = {2},
  Pages                    = {74-80},
  Volume                   = {8},

  Abstract                 = {In much of modern control theory designs are based on the assumption that the state vector of the system to be controlled is available for measurement. In many practical situations only a few output quantities are available. Application of theories which assume that the state vector is known is severely limited in these cases. In this paper it is shown that the state vector of a linear system can be reconstructed from observations of the system inputs and outputs. It is shown that the observer, which reconstructs the state vector, is itself a linear system whose complexity decreases as the number of output quantities available increases. The observer may be incorporated in the control of a system which does not have its state vector available for measurement. The observer supplies the state vector, but at the expense of adding poles to the over-all system.},
  Doi                      = {10.1109/TME.1964.4323124},
  ISSN                     = {0536-1559},
  Keywords                 = {Control systems;Control theory;Differential equations;Dynamic programming;Kalman filters;Linear systems;Observers;State estimation;Transfer functions;Vectors},
  Owner                    = {Georg}
}

@Book{Lunze2014,
  Title                    = {Regelungstechnik 2},
  Author                   = {Jan Lunze},
  Publisher                = {Springer Berlin Heidelberg},
  Year                     = {2014},
  Series                   = {Springer-Lehrbuch},

  Doi                      = {10.1007/978-3-642-53944-2},
  Owner                    = {Georg},
  Timestamp                = {2015.03.09}
}

@Book{Lunze2014a,
  Title                    = {Regelungstechnik 1},
  Author                   = {Jan Lunze},
  Publisher                = {Springer Berlin Heidelberg},
  Year                     = {2014},
  Series                   = {Springer-Lehrbuch},

  Doi                      = {10.1007/978-3-642-53909-1},
  Owner                    = {Georg},
  Timestamp                = {2015.03.09}
}

@Book{Lunze2010,
  Title                    = {Regelungstechnik 2},
  Author                   = {Lunze, Jan},
  Publisher                = {Springer Berlin Heidelberg},
  Year                     = {2010},
  Series                   = {Springer-Lehrbuch},

  Booktitle                = {Regelungstechnik 2},
  Doi                      = {10.1007/978-3-642-10198-4_7},
  ISBN                     = {978-3-642-10197-7},
  Language                 = {German},
  Owner                    = {Georg},
  Timestamp                = {2013.04.24}
}

@Book{Mitschke2014,
  Title                    = {Dynamik der Kraftfahrzeuge},
  Author                   = {Manfred Mitschke and Henning Wallentowitz},
  Editor                   = {Manfred Mitschke},
  Publisher                = {Springer Fachmedien Wiesbaden},
  Year                     = {2014},
  Edition                  = {5., überarbeitete und ergänzte Auflage},

  Doi                      = {10.1007/978-3-658-05068-9},
  Owner                    = {Georg},
  Timestamp                = {2015.03.04}
}

@Book{Mitschke2004,
  Title                    = {Dynamik der Kraftfahrzeuge},
  Author                   = {Manfred Mitschke and Henning Wallentowitz},
  Editor                   = {Manfred Mitschke},
  Publisher                = {Springer-Verlag},
  Year                     = {2004},
  Edition                  = {Vierte, neubearbeitete Auflage},

  Booktitle                = {Dynamik der Kraftfahrzeuge},
  Coverage                 = {XXX, 806 S.},
  Doi                      = {10.1007/978-3-662-06802-1},
  ISBN                     = {3-540-42011-8},
  Owner                    = {Georg},
  Publisherplace           = {Berlin [u.a.]},
  Timestamp                = {2012.08.10}
}

@InProceedings{Moore1971,
  Title                    = {Exact model matching by state feedback and dynamic compensation},
  Author                   = {Moore, B.C. and Silverman, L.M.},
  Booktitle                = {Decision and Control, 1971 IEEE Conference on},
  Year                     = {1971},
  Month                    = {Dec},
  Pages                    = {114-120},

  Abstract                 = {A new approach to the exact model matching problem is given based on an algorithm for characterizing the input-output structural properties of a linear system. In contrast to previous methods, the state feedback matching problem is solved without recourse to initial coordinate transformations. Moreover, the algorithm given here extends directly to the dynamic model matching problem and yields a set of necessary and sufficient conditions for one system to be transfer function equivalent via dynamic state feedback to a specified model system.},
  Doi                      = {10.1109/CDC.1971.270959},
  Keywords                 = {Controllability;Equations;Linear systems;National electric code;Poles and zeros;Polynomials;Sequential analysis;State feedback;Sufficient conditions;Transfer functions},
  Owner                    = {Georg}
}

@InCollection{Moerbe2012,
  Title                    = {Fahrdynamik-Sensoren für FAS},
  Author                   = {Mörbe, Matthias},
  Booktitle                = {Handbuch Fahrerassistenzsysteme},
  Publisher                = {Vieweg+Teubner Verlag},
  Year                     = {2012},
  Chapter                  = {10},
  Editor                   = {Winner, Hermann and Hakuli, Stephan and Wolf, Gabriele},
  Pages                    = {94-109},

  Abstract                 = {Die Auswahl einer Sensorkomponente für ein Fahrerassistenzsystem ist in vielen Bereichen unabhängig von dessen Funktion. Die Bedingungen richten sich nach den Standards, die in der Kfz-Industrie nach VDA oder ISO weltweit eingeführt sind, und den Regeln, die die Systemlieferanten und Fahrzeughersteller für sich selbst hieraus abgeleitet haben.},
  Doi                      = {10.1007/978-3-8348-8619-4_11},
  ISBN                     = {978-3-8348-1457-9},
  Language                 = {German},
  Owner                    = {Georg},
  Url                      = {http://dx.doi.org/10.1007/978-3-8348-8619-4_11}
}

@InProceedings{Naus2008,
  Title                    = {Explicit MPC design and performance evaluation of an ACC Stop-\&-Go},
  Author                   = {Naus, G. and van den Bleek, R. and Ploeg, J. and Scheepers, B. and van de Molengraft, R. and Steinbuch, M.},
  Booktitle                = {American Control Conference, 2008},
  Year                     = {2008},
  Month                    = {June},
  Pages                    = {224-229},

  Abstract                 = {This paper presents the synthesis, the implementation and the performance evaluation of an Adaptive Cruise Control (ACC) Stop-&-Go (S&G) design. A Model Predictive Control (MPC) framework is adopted, enabling hybrid control synthesis. Performance of the controller is evaluated, distinguishing between comfort of the resulting longitudinal vehicle behavior and the behavior due to traffic requirements. Comfort is related to vestibularly detectable variables, whereas required behaviour is related to visually and auditorily detectable variables. Metrics are determined to enable objective performance evaluation of an ACC (S&G) system in a qualitative manner.},
  Doi                      = {10.1109/ACC.2008.4586495},
  ISSN                     = {0743-1619},
  Keywords                 = {adaptive control;control system synthesis;predictive control;road vehicles;velocity control;ACC stop-&-go;MPC design;adaptive cruise control;hybrid control synthesis;model predictive control;performance evaluation;vehicle behavior;Acceleration;Control systems;Engines;Frequency;Humans;Motion control;Predictive models;Radar;Vehicle detection;Vehicle driving},
  Owner                    = {Georg},
  Timestamp                = {2015.04.08}
}

@InProceedings{Naus2008a,
  Title                    = {Explicit MPC design and performance-based tuning of an Adaptive Cruise Control Stop-\&-Go},
  Author                   = {Naus, G. and Ploeg, J. and van de Molengraft, R. and Steinbuch, M.},
  Booktitle                = {Intelligent Vehicles Symposium, 2008 IEEE},
  Year                     = {2008},
  Month                    = {June},
  Pages                    = {434-439},

  Abstract                 = {This paper presents the synthesis, the implementation and the performance-based tuning of an adaptive cruise control (ACC) stop-&-go (S&G) design. A model predictive control (MPC) framework is adopted to design the controller. Performance of the controller is evaluated, distinguishing between comfort of the resulting longitudinal vehicle behavior and the behavior due to traffic requirements. Corresponding metrics are incorporated in the controller design. Performance functions, relating the metrics explicitly to comfort and traffic requirements enable tuning of the resulting controller. As a result, the performance of the controller can be changed by a single performance-based weight. Simulation results for varying controller performance in various traffic situations are shown.},
  Doi                      = {10.1109/IVS.2008.4621248},
  ISSN                     = {1931-0587},
  Keywords                 = {adaptive control;control system synthesis;predictive control;road vehicles;velocity control;adaptive cruise control stop-&-go design;controller design;controller performance;model predictive control;performance-based tuning;traffic requirements;traffic situations;Acceleration;Adaptive control;Control systems;Measurement;Predictive models;Programmable control;Radar;Vehicle detection;Vehicle driving;Vehicles},
  Owner                    = {Georg},
  Timestamp                = {2015.04.08}
}

@PhdThesis{Obermueller2012,
  Title                    = {Modellbasierte Fahrzustandsschätzung zur Ansteuerung einer aktiven Hinterachskinematik},
  Author                   = {Obermüller, Anton},
  School                   = {Technische Universität München},
  Year                     = {2012},

  Address                  = {München},
  Type                     = {Dissertation},

  Abstract                 = {Im Stand der Technik zeigt sich bezüglich einer Hinterradlenkung ein Zielkonflikt zwischen Stabilität, Führungsverhalten und Phasenverzug einer Ansteuerung. Im Rahmen dieser Arbeit werden daher zwei neue Strategien zur Ansteuerung einer Hinterradlenkung vorgestellt. Das Adaptive Einspurmodell ermöglicht durch eine echtzeitfähige Adaption der Schräglaufsteifigkeiten die Projektion eines nichtlinearen Fahrverhaltens auf ein lineares Modell. Die darauf basierende Adaptive Steuerung entschärft den Zielkonflikt Stabilität, Führungsverhalten und Phasenverzug. Die Phaseplane-Methode erlaubt eine Stabilitätsanalyse des Fahrverhaltens und die Berechnung eines situationsabhängig, optimalen Hinterradlenkwinkels mit Hilfe einer Datenbank. Das Sollfahrverhalten kann durch die Adaptiven Schräglaufsteifigkeiten an äußere Einflussfaktoren angepasst und der Zielkonflikt zwischen Fahrzeugagilität und -stabilität aufgelöst werden.},
  Keywords                 = {Hinterradlenkung, Modellfolgesteuerung, Kalman-Filter, Fahrdynamik, Schätzung},
  Owner                    = {Georg},
  Url                      = {http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:91-diss-20120918-1106447-1-7}
}

@PhdThesis{Osmic2014,
  Title                    = {Flachheitsbasierte Methode zum stoßfreien Umschalten von Reglerstrukturen},
  Author                   = {Semir Osmi\'{c}},
  School                   = {Universität Paderborn},
  Year                     = {2014},

  Address                  = {Paderborn},
  Month                    = {dez},
  Type                     = {Dissertation},

  Abstract                 = {Zusammenfassung

Die vorliegende Arbeit beschäftigt sich mit der Frage, wie stoßfreie Rekonfigurationen von Systemen zur Laufzeit realisiert werden können. Es werden Anforderungen an die Rekonfiguration definiert und eine neue Methode zur stoßfreien Rekonfiguration vorgestellt, die sowohl bei einfachen Betriebspunktwechseln als auch beim Wechsel der Reglerparameter oder der Reglerstruktur angewendet werden kann. Die Methodik basiert auf der Zwei-Freiheitsgrade-Reglerstruktur und der (differenziellen) Flachheit, einer grundlegenden Eigenschaft des Systems selbst. Die Methodik wird für lineare und nichtlineare Ein- und Mehrgrößensysteme vorgestellt, wobei die Rekonfigurationen immer mittels in Echtzeit berechneter Vorsteuerungs- und Führungsgrößentrajektorien realisiert werden. Anhand von akademischen und praktischen Beispielen wird die neue Methode mit bestehenden Verfahren zur stoßfreien Reglerumschaltung verglichen und die Anwendbarkeit demonstriert.


Abstract

The present thesis deals with a new approach to bumpless transfer for system reconfiguration at runtime. During a system reconfiguration an operating point change, a change of controller parameters or even a change of the control structure can occur. After the definition of requirements which has to be fulfilled during the reconfiguration, a new flatness-based method for bumpless transfer is presented. The flatness-based method draws on the two-degrees-of-freedom control structure and on the (differential) flatness which is a fundamental feature of the controlled system. Bumpless switching is realised by means of feedforward and reference trajectories computed in real time which are applicable with linear and non-linear SISO and MIMO systems. The new method of bumpless switching is compared to existing bumpless-switching procedures and its advantages are evidenced by practical examples.},
  Owner                    = {Georg},
  Timestamp                = {2015.08.17},
  Url                      = {http://nbn-resolving.de/urn:nbn:de:hbz:466:2-15627}
}

@Article{Parmar2004,
  Title                    = {A sensorless optimal control system for an automotive electric power assist steering system},
  Author                   = {Parmar, M. and Hung, J.Y.},
  Journal                  = {Industrial Electronics, IEEE Transactions on},
  Year                     = {2004},

  Month                    = {April},
  Number                   = {2},
  Pages                    = {290-298},
  Volume                   = {51},

  Abstract                 = {This paper considers the analysis and design of a double-pinion-type electric power assist steering (EPAS) control system. A simplified model of the augmented steering assembly-electric motor system is developed using Lagrangian dynamics, and an optimal controller structure for the model is proposed. Three main advances to the state of the art are presented in this paper. First, a state-space design model is used rather than an input-output model. A state-space formulation for a system model that incorporates motor electrical dynamics is obtained with the assist motor angular position as the output. Second, linear quadratic regulator (LQR) and Kalman filter techniques are employed to arrive at an optimal controller for the EPAS system. The selection of weighting coefficients for the LQR cost function is discussed. Finally, the authors present a control strategy that eliminates the steering column torque sensor, a critical component in existing EPAS controller designs. The proposed control strategy presents an opportunity to improve EPAS system performance and also reduce system cost and complexity.},
  Doi                      = {10.1109/TIE.2004.824847},
  ISSN                     = {0278-0046},
  Keywords                 = {Kalman filters;automotive electronics;control system synthesis;electric motors;linear quadratic control;state-space methods;EPAS control system;EPAS controller designs;Kalman filter techniques;LQR;Lagrangian dynamics;double-pinion-type electric power assist steering control system;input-output model;linear quadratic regulator;motor electrical dynamics;sensorless optimal control system;state-space design model;steering column torque sensor;Assembly systems;Automotive engineering;Control systems;Lagrangian functions;Optimal control;Power system modeling;Sensorless control;Steering systems;Torque control;Vehicle dynamics},
  Owner                    = {Georg},
  Timestamp                = {2012.10.02}
}

@Article{Peng1996,
  Title                    = {Anti-windup, bumpless, and conditioned transfer techniques for PID controllers},
  Author                   = {Youbin Peng and Vrancic, D. and Hanus, R.},
  Journal                  = {Control Systems, IEEE},
  Year                     = {1996},

  Month                    = {Aug},
  Number                   = {4},
  Pages                    = {48-57},
  Volume                   = {16},

  Abstract                 = {Gives a simple and comprehensive review of anti-windup, bumpless and conditioned transfer techniques in the framework of the PID controller. We show that the most suitable anti-windup strategy for usual applications is the conditioning technique, using the notion of the realizable reference. The exception is the case in which the input limitations are too restrictive. In this case, we propose the anti-windup method with a free parameter tuned to obtain a compromise between the incremental algorithm and the conditioning technique. We also introduce the new notion of conditioned transfer, and we it to be a more suitable solution than bumpless transfer. All the discussions are supported by simulations},
  Doi                      = {10.1109/37.526915},
  ISSN                     = {1066-033X},
  Keywords                 = {closed loop systems;three-term control;PID controller;anti-windup method;bumpless transfer techniques;conditioned transfer techniques;Actuators;Automatic control;Closed loop systems;Control design;Control engineering;Feedback;Switches;Three-term control;Valves;Windup},
  Owner                    = {Georg}
}

@Article{Pisano2011954,
  Title                    = {Sliding mode control: A survey with applications in math },
  Author                   = {Alessandro Pisano and Elio Usai},
  Journal                  = {Mathematics and Computers in Simulation },
  Year                     = {2011},
  Note                     = {Important aspects on structural dynamical systems and their numerical computation },
  Number                   = {5},
  Pages                    = {954 - 979},
  Volume                   = {81},

  Abstract                 = {The paper presents a brief survey on Variable Structure Control Systems with Sliding Modes. Starting from a general case of sliding modes in dynamical systems with discontinuous right-hand side, classic approaches to sliding mode control systems are considered and some basic results about the control of uncertain systems are given. Then, Higher-Order Sliding Modes are presented as a tool to remove discontinuity from the control action, to deal with higher relative degree systems and to improve the accuracy of the real sliding mode behavior when the discrete time implementation is considered. Finally, three applications of the sliding mode control theory to applied math problems are presented: the numerical solution of constrained ODEs, the real-time differentiation, and the problem of finding the zeroes of nonlinear algebraic systems. The first is an almost straightforward application of the sliding mode control theory, while the last two are accomplished by computing the solution of properly defined dynamical systems. Some simulations are reported to clarify the approach.},
  Doi                      = {http://dx.doi.org/10.1016/j.matcom.2010.10.003},
  ISSN                     = {0378-4754},
  Keywords                 = {Variable structure systems},
  Owner                    = {Georg},
  Url                      = {http://www.sciencedirect.com/science/article/pii/S0378475410003095}
}

@InCollection{Rajamani2012_Ch2,
  Title                    = {Lateral Vehicle Dynamics},
  Author                   = {Rajamani, Rajesh},
  Booktitle                = {Vehicle Dynamics and Control},
  Publisher                = {Springer US},
  Year                     = {2012},
  Chapter                  = {2},
  Pages                    = {15-46},
  Series                   = {Mechanical Engineering Series},

  Doi                      = {10.1007/978-1-4614-1433-9_2},
  ISBN                     = {978-1-4614-1432-2},
  Language                 = {English},
  Owner                    = {Georg},
  Timestamp                = {2012.11.22}
}

@Article{Rawlings2000,
  Title                    = {Tutorial overview of model predictive control},
  Author                   = {Rawlings, J.B.},
  Journal                  = {Control Systems, IEEE},
  Year                     = {2000},

  Month                    = {Jun},
  Number                   = {3},
  Pages                    = {38-52},
  Volume                   = {20},

  Abstract                 = {The paper provides a reasonably accessible and self-contained tutorial exposition on model predictive control (MPC). It is aimed at readers with control expertise, particularly practitioners, who wish to broaden their perspective in the MPC area of control technology. We introduce the concepts, provide a framework in which the critical issues can be expressed and analyzed, and point out how MPC allows practitioners to address the trade-offs that must be considered in implementing a control technology},
  Doi                      = {10.1109/37.845037},
  ISSN                     = {1066-033X},
  Keywords                 = {control engineering education;linear systems;nonlinear systems;optimal control;predictive control;state estimation;state feedback;linear models;model predictive control;nonlinear models;optimal control;state estimation;state feedback;tutorial;Electrical equipment industry;Filtering theory;Linear systems;Nonlinear filters;Open loop systems;Predictive control;Predictive models;Programmable control;Regulators;Tutorial},
  Owner                    = {Georg}
}

@InCollection{Winner2012_EPS,
  Title                    = {Lenkstellsysteme},
  Author                   = {Reimann, Gerd and Brenner, Peter and Büring, Hendrik},
  Booktitle                = {Handbuch Fahrerassistenzsysteme},
  Publisher                = {Vieweg+Teubner Verlag},
  Year                     = {2012},
  Chapter                  = {20},
  Editor                   = {Winner, Hermann and Hakuli, Stephan and Wolf, Gabriele},
  Pages                    = {287-312},

  Abstract                 = {Die Lenkung setzt die vom Fahrer am Lenkrad aufgebrachte Drehbewegung in eine Lenkwinkeländerung der gelenkten Räder um. Gleichzeitig hat sie die Aufgabe, den Fahrer anhand der haptischen Rückmeldung über die aktuelle Fahrsituation und die Fahrbahnbeschaffenheit zu informieren. Somit trägt das Lenksystem entscheidend zu einem komfortablen und sicheren Führen des Fahrzeugs bei. Die wesentlichen Merkmale dabei sind:

Die Lenkung soll eine dem Fahrzustand angepasste, möglichst geringe Betätigungskraft aufweisen. Insbesondere die Forderung nach einer geringen Betätigungskraft bei stehendem und langsam rollendem Fahrzeug hat dazu geführt, dass mittlerweile nahezu alle Fahrzeuge mit einer Hilfskraftlenkung ausgestattet sind. Gleichzeitig jedoch muss bei der Erfüllung dieser Forderung darauf geachtet werden, dass die geringen Betätigungskräfte bei schneller Fahrt nicht zu einem Verlust der haptischen Rückmeldung von der Fahrbahn und damit zu einem unsicheren und instabilen Geradeauslauf führen.
Die Anzahl der Lenkradumdrehungen von Lenkanschlag zu Lenkanschlag soll möglichst gering sein, gleichzeitig ist es jedoch erforderlich, bei höheren Fahrzeuggeschwindigkeiten durch eine nicht zu direkte Lenkübersetzung die Geradeauslaufstabilität des Fahrzeugs zu unterstützen.
Die Übertragung des Lenkradwinkels bis zum Radeinschlagswinkel muss absolut präzise und spielfrei erfolgen.
Die Räder müssen, sobald das Fahrzeug fährt, bei losgelassenem Lenkrad von selbst in die Geradeauslaufstellung zurückstellen. Dies gilt sowohl beim Ausfahren aus Kurven als auch bei kleinsten Lenkbewegungen auf geraden Strecken wie z. B. bei einer Autobahnfahrt.
Rückmeldungen und Stöße bezüglich des Fahrzustands und der Fahrbahnbeschaffenheit müssen vom Fahrer bemerkt werden können, jedoch sollen diese soweit gedämpft sein, dass sich keine Überforderung und Übermüdung des Fahrers einstellt.
Die gesetzlichen Forderungen bezüglich der Lenkanlagen in Kraftfahrzeugen regeln vor allem die höchstzulässige Betätigungskraft und Betätigungsdauer bei einem intakten und fehlerbehafteten Lenksystem und sind in der europäischen Richtlinie 70/311/EWG beschrieben.},
  Doi                      = {10.1007/978-3-8348-8619-4_21},
  ISBN                     = {978-3-8348-1457-9},
  Language                 = {German},
  Owner                    = {Georg},
  Review                   = {Allgemeines zu EPS},
  Timestamp                = {2012.11.21}
}

@Article{RiekertSchunck1940,
  Title                    = {Zur Fahrmechanik des gummibereiften Kraftfahrzeugs},
  Author                   = {Riekert, P. and Schunck, T.E.},
  Journal                  = {Ingenieur-Archiv},
  Year                     = {1940},
  Pages                    = {210-224},
  Volume                   = {11},

  Abstract                 = {Auf Grund der Erkenntnis, da\ ein gummibereiftes Rad nur dann Seitenkräfte aufnehmen kann, wenn es schräg zur Fahrtrichtung läuft, und da\ diese Seitenkräfte dem Raddruck nicht proportional sind, wurde das Verhalten eines mit konstanter Geschwindigkeit fahrenden Kraftfahrzeugs unter Beschränkung auf kleine Schräglaufwinkel untersucht. Es wurden die Gleichungen und je ein Beispiel für die beiden Hauptprobleme angegeben, entweder den für eine gegebene Bahn notwendigen Lenkeinschlag oder die mit einem gegebenen Lenkeinschlag sich ergebende Bahn zu bestimmen. Dabei zeigte sich, da\ der Schwimmwinkel des Fahrzeugs nicht in allen Fahrzuständen klein bleibt, sondern unter gewissen Bedingungen, die erörtert wurden, mit der Zeit über alle Grenzen wächst. Diese Stabilitätsbedingungen unterscheiden sich je nachdem, ob man eine bestimmte Schwerpunktsbahn durch genau bestimmte Lenkbewegungen erzwingt, welche die Rückwirkungen des Schwimmens auf die Schwerpunktsbahn in jedem Augenblick ausgleichen, oder ob man von einem beliebigen Lenkeinschlag ausgeht, wobei die Schwerpünktsbahn durch die Schwimmbewegungen des Fahrzeugs gestört wird, die ihrerseits wieder auf äu\ere oder Einlaufstörungen zurückzuführen sind. Praktisch sind die Stabilitätsbedingungen dieser zweiten Art von grö\erer Bedeutung, da man nicht voraussetzen darf, da\ der Fahrer jeweils genau der ersten Bedingung entsprechend lenkt.

Schlie\lich wurde noch berechnet, wie man einem mä\igen Seitenwind entgegensteuern mu\, und unter welcher Bedingung das Fahrzeug dagegen unempfindlich ist.},
  Doi                      = {10.1007/BF02086921},
  ISSN                     = {0020-1154},
  Issue                    = {3},
  Language                 = {German},
  Owner                    = {Georg},
  Publisher                = {Springer-Verlag},
  Timestamp                = {2012.11.26}
}

@Article{Rothfuss1997,
  Title                    = {Flachheit: Ein neuer Zugang zur Steuerung und Regelung nichtlinearer Systeme},
  Author                   = {Rothfuß, Ralf and Rudolph, Joachim and Zeitz, Michael},
  Journal                  = {at - Automatisierungstechnik},
  Year                     = {1997},

  Month                    = {Jan},
  Number                   = {11},
  Pages                    = {517-525},
  Volume                   = {45},

  Abstract                 = {Das 1992 von Fliess, Levine, Martin und Rouchon eingeführte Konzept der Flachheit eröffnet einen neuen Zugang zur Analyse und zum Entwurf nichtlinearer Systeme. Flache nichtlineare Systeme sind eine Verallgemeinerung der linearen steuerbaren Systeme und ermöglichen einen systematischen Entwurf von Steuerungen und Regelungen zur Trajektorienfolge. Zur Realisierung der flachheitsbasierten Folgeregelung können nichtlineare Beobachter mit zeitinvarianter Verstärkung verwendet werden. Die Flachheitsanalyse und der flachheitsbasierte Entwurf einer Steuerung, einer asymptotischen Folgeregelung und eines nichtlinearen Folgebeobachters werden erläutert. Dazu wird das Beispiel eines kinematischen Fahrzeugmodells betrachtet.},
  Doi                      = {10.1524/auto.1997.45.11.517},
  ISSN                     = {0178-2312},
  Keywords                 = {Differenzielle Flachheit},
  Owner                    = {Georg},
  Publisher                = {Walter de Gruyter GmbH},
  Timestamp                = {2015.08.18},
  Url                      = {http://dx.doi.org/10.1524/auto.1997.45.11.517}
}

@Article{Schoettle2011,
  Title                    = {Zukunft der Fahrerassistenz Mit neuen E/E-Architekturen},
  Author                   = {Schöttle, Markus},
  Journal                  = {ATZelektronik},
  Year                     = {2011},
  Number                   = {4},
  Pages                    = {8-15},
  Volume                   = {6},

  Abstract                 = {Ab 2015 verfügt jede neue Fahrzeuggeneration der BMW Group über eine schlanke und funktionsorientierte E/E-Architektur. Ohne diese neue Struktur könnten die künftig noch komplexeren und vernetzten Fahrerassistenzsysteme nicht realisiert werden. BMW gibt einen Einblick in die noch laufende Entwicklung der Architektur. Am Beispiel des Umfeldmodells wird deutlich, wie sich die Entwicklungsprozesse beschleunigen lassen, wie die Qualität der Assistenzfunktionen steigt und wie Kunden davon profitieren.},
  Doi                      = {10.1365/s35658-011-0055-0},
  ISSN                     = {1862-1791},
  Keywords                 = {driver assistance;Fahrerassistenz;Architektur;Sensorausstattung},
  Language                 = {German},
  Owner                    = {Georg},
  Publisher                = {Springer Automotive Media},
  Timestamp                = {2015.03.02},
  Url                      = {http://dx.doi.org/10.1365/s35658-011-0055-0}
}

@Book{Schramm2010,
  Title                    = {Modellbildung und Simulation der Dynamik von Kraftfahrzeugen},
  Author                   = {Dieter Schramm and Manfred Hiller and Roberto Bardini},
  Editor                   = {Dieter Schramm},
  Publisher                = {Springer-Verlag},
  Year                     = {2010},

  Doi                      = {10.1007/978-3-540-89315-8},
  ISBN                     = {978-3-540-89313-4},
  Owner                    = {Georg},
  Review                   = {Herleitung von Einspurmodellen: lineares Einspurmodell, nichtlineares Einspurmodell, lineares Wankmodell},
  Timestamp                = {2012.06.15}
}

@Article{Seewald2015,
  Title                    = {Notausweichassistent zur Vermeidung von Kollisionen},
  Author                   = {Seewald, Alois and Haß, Carsten and Keller, Martin and Bertram, Torsten},
  Journal                  = {ATZ - Automobiltechnische Zeitschrift},
  Year                     = {2015},
  Number                   = {1},
  Pages                    = {26-31},
  Volume                   = {117},

  Abstract                 = {Ein Unfall mit einem plötzlich vor dem Fahrzeug auftauchenden Hindernis lässt sich mit einem Notausweichmanöver zu einem Zeitpunkt auch dann noch verhindern, wenn eine automatische Notbremsung nur noch zur Kollisionsminderung beitragen kann. Deshalb hat TRW gemeinsam mit der TU Dortmund einen Notausweichassistenten entwickelt, der die optimalen Ausweichtrajektorien berechnet, den Fahrer bei der Lenkbewegung unterstützt und das Fahrzeug stabilisiert. Der Assistent befi ndet sich derzeit im Entwicklungsstadium und könnte 2017 auf den Markt gebracht werden.},
  Doi                      = {10.1007/s35148-015-0352-7},
  ISSN                     = {0001-2785},
  Language                 = {German},
  Owner                    = {Georg},
  Publisher                = {Springer Automotive Media},
  Review                   = {REFERENCES:
[1] Kohlhuber, F.; Lienkamp, M.: Load problem of lightweight electric vehicles and solution by online model adaption. 5 th International Munich Chassis Symposium, 24./25. Juni 2014, München, S. 281-302
[2] Obermüller, A.: Modellbasierte Fahrzustandsschätzung zur Ansteuerung einer aktiven Hinterachskinematik. München, Technische Universität, Dissertation, Cuvillier-Verlag, Göttingen, 2012
[3] Kohlhuber, F.; Büchner, S.; Lienkamp, M.: Trip-synchronous parameter estimation of vehicle and tire model parameters as virtual sensor for load-sensitive lightweight vehicles. In: IEEE International Conference on Vehicular Electronics and Safety (ICVES), 16.-18. Dezember 2014, Hyderabad/India, zur Veröffentlichung akzeptiert
[4] Best, M. C.: Identifying tyre models directly from vehicle test data using an extended Kalman filter. In: Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility 48 (2010), Nr. 2, S. 171-187
[5] Hon, S. et al.: Vehicle inertial parameter identifi cation using extended and unscented Kalman filters. In: Proceedings of the 16 th International IEEE Annual Conference on Intelligent Transportation Systems, The Hague, 2013, S. 1436-1441},
  Url                      = {http://dx.doi.org/10.1007/s35148-015-0352-7}
}

@InProceedings{Sentouh2011,
  Title                    = {The H2-optimal preview controller for a shared lateral control},
  Author                   = {Sentouh, C. and Soualmi, B. and Popieul, J.-C. and Debernard, S.},
  Booktitle                = {2011 14th International IEEE Conference on Intelligent Transportation Systems (ITSC)},
  Year                     = {2011},
  Month                    = {oct},
  Pages                    = {1452-1458},

  Abstract                 = {This paper proposes a concept of human-centered lane keeping assistance system using the H2-optimal preview controller. In order to successfully share lateral control of the vehicle between human driver and controller, a dynamic pre-compensation control unit (forcing control) with reference model is added to the resulting controller which combines state feedback control and feedforward control. The driver steering torque is used as input of the reference model and is estimated using a robust Proportional Integral observer with unknown input. A more precise estimation of vehicle states and driver torque provides an accurate values for computing the optimal preview steering controller from the driver-vehicle system. Simulation results are presented here to demonstrate the effectiveness of the proposed structure to ensure a shared lateral control between human driver and assistance.},
  Doi                      = {10.1109/ITSC.2011.6083151},
  ISSN                     = {2153-0009},
  Keywords                 = {force control;optimal control;road vehicles;driver steering torque;driver-vehicle system;dynamic precompensation control unit;feedforward control;forcing control;human driver;human-centered lane keeping assistance system;optimal preview controller;optimal preview steering controller;reference model;robust proportional integral observer;shared lateral control;state feedback control;Observers;Roads;Torque;Vectors;Vehicle dynamics;Vehicles},
  Owner                    = {Georg}
}

@Article{Shimakage2002,
  Title                    = {Design of lane-keeping control with steering torque input},
  Author                   = {Masayasu Shimakage and Shigeki Satoh and Kenya Uenuma and Hiroshi Mouri},
  Journal                  = {JSAE Review},
  Year                     = {2002},
  Number                   = {3},
  Pages                    = {317 - 323},
  Volume                   = {23},

  Abstract                 = {This paper describes a procedure for the design of lane-keeping control that uses steering torque as the control input. The servo control system was designed on the basis of H2 control theory. Robustness against disturbances and parameter variation was confirmed by μ-analysis. The control performance of the system was first confirmed by simulations conducted under a variety of conditions, followed by driving tests with an actual vehicle which show that the desired performance was obtained. The method in this paper achieves an outstanding balance of excellent lane-keeping control, smooth steering motion and easy steering action by the driver.},
  Doi                      = {10.1016/S0389-4304(02)00194-7},
  ISSN                     = {0389-4304},
  Owner                    = {Georg}
}

@Patent{Shinoda2006,
  Title                    = {Automotive radar with mechanically scanned monopulse antenna},
  Number                   = {EP1684092 (A1)},
  Year                     = {2006},
  Assignee                 = {Hitachi, Ltd},
  Author                   = {Shinoda, Hiroshi and Nagasaku, Toshiyuki and Kondoh, Hiroshi},
  Language                 = {en},
  Month                    = jul,
  Note                     = {CIB: G01S13/42; G01S13/44; G01S13/93; G01S7/292; H01Q21/06; H01Q25/02; H01Q3/06; H01Q3/08},
  Url                      = {http://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20060726&DB=&locale=en_EP&CC=EP&NR=1684092A1&KC=A1&ND=1},

  Abstract                 = {An automotive radar which can process signals at high speed to detect a target in a wide angle range is provided. The automotive radar having a monopulse antenna which comprises a transmitting antenna which emits an electromagnetic wave, two receiving antennas which receive the electromagnetic wave reflected by a target and an antenna plate on which the transmitting antenna and two receiving antennas are arranged. The radar also includes a drive which rotates the antenna plate in an azimuth direction, which corresponds to the direction of arrangement of the two receiving antennas, to scan a detection angle formed by the two receiving antennas with the purpose to reduce noise caused by high-intensity Doppler-signals of large (stationary) objects within the field-of-view of the automotive radar. The drive has rest time between scans to stop rotation. The automotive radar also includes a signal processor which detects the azimuth angle of the target with respect to a reference direction during the rest time according to received signals from the two receiving antennas (monopulse principle) and the rotation angle of the antenna plate (mechanical scanning principle) at rest.},
  Owner                    = {Georg},
  Urldate                  = {2015-03-10}
}

@InCollection{Shtessel2014,
  Title                    = {Introduction: Intuitive Theory of Sliding Mode Control},
  Author                   = {Shtessel, Yuri and Edwards, Christopher and Fridman, Leonid and Levant, Arie},
  Booktitle                = {Sliding Mode Control and Observation},
  Publisher                = {Springer New York},
  Year                     = {2014},
  Pages                    = {1-42},
  Series                   = {Control Engineering},

  Abstract                 = {In the formulation of any practical control problem, there will always be a discrepancy between the actual plant and its mathematical model used for the controller design. These discrepancies (or mismatches) arise from unknown external disturbances, plant parameters, and parasitic/unmodeled dynamics. Designing control laws that provide the desired performance to the closed-loop system in the presence of these disturbances/uncertainties is a very challenging task for a control engineer. This has led to intense interest in the development of the so-called robust control methods which are supposed to solve this problem. One particular approach to robust controller design is the so-called sliding mode control technique.},
  Doi                      = {10.1007/978-0-8176-4893-0_1},
  ISBN                     = {978-0-8176-4892-3},
  Language                 = {English},
  Owner                    = {Georg},
  Url                      = {http://dx.doi.org/10.1007/978-0-8176-4893-0_1}
}

@Article{Simon2004,
  Title                    = {Data smoothing and interpolation using eighth-order algebraic splines},
  Author                   = {Simon, D.},
  Journal                  = {Signal Processing, IEEE Transactions on},
  Year                     = {2004},

  Month                    = {April},
  Number                   = {4},
  Pages                    = {1136-1144},
  Volume                   = {52},

  Abstract                 = {A new type of algebraic spline is used to derive a filter for smoothing or interpolating discrete data points. The spline is dependent on control parameters that specify the relative importance of data fitting and the derivatives of the spline. A general spline of arbitrary order is first formulated using matrix equations. We then focus on eighth-order splines because of the continuity of their first three derivatives (desirable for motor and robotics applications). The spline's matrix equations are rewritten to give a recursive filter that can be implemented in real time for lengthy data sequences. The filter is lowpass with a bandwidth that is dependent on the spline's control parameters. Numerical results, including a simple image processing application, show the tradeoffs that can be achieved using the algebraic splines.},
  Doi                      = {10.1109/TSP.2004.823489},
  ISSN                     = {1053-587X},
  Keywords                 = {image processing;low-pass filters;matrix algebra;recursive filters;smoothing methods;splines (mathematics);data smoothing;discrete data points interpolation;eighth order algebraic spline;image processing;lowpass filter;matrix equations;Bandwidth;Equations;Filters;Image processing;Interpolation;Path planning;Polynomials;Robots;Smoothing methods;Spline},
  Owner                    = {Georg}
}

@TechReport{Magna_SpecBook_ACC,
  Title                    = {Functional specifications Adaptive Cruise Control},
  Author                   = {MAGNA STEYR},
  Institution              = {MAGNA STEYR Fahrzeugtechnik AG \& Co KG},
  Year                     = {2014},
  Month                    = {nov},

  Owner                    = {Georg},
  Timestamp                = {2014.12.16}
}

@PhdThesis{Sturm2000,
  Title                    = {Neuronale Netze zur Modellbildung in der Regelungstechnik},
  Author                   = {Sturm, Michael},
  School                   = {Technische Universität München},
  Year                     = {2000},

  Address                  = {München},
  Type                     = {Dissertation},

  Abstract                 = {Modellbildung in der Regelungstechnik beduetet die möglichst gute Approximation eines technischen Prozesses durch ein mathematisches bzw. physikalisches Modell. Für Prozesse, die einem linearen Differentialgleichungssystem gehorchen, existiert hierfür eine einheitliche Theorie. Ist diese Linearitätsbedingung nicht erfüllt, ist das System also nichtlinear, so stellt die Modellierung eine große Herausforderung dar. Speziell die On-Line-Fähigkeit der Modellierung ist meist nicht erfüllbar.In dieser Arbeit wird nach einer kurzen Einführung in die Grundlagen der Regelungstechnik eine neue, vereinheitlichte Sichtweise gängiger Modellbildungsverfahren gegeben, die insbesondere das Feld der neuronalen Netze umfaßt. Schwächen der verwendeten Verfahren werden aufgezeigt und mögliche Lösungsansätze diskutiert.Aufbauend auf der Forderung nach "On-Line-Fähigkeit" und "Modellierung nichtlinearer Systeme" wird der Algorithmus LEMON (Local Ellipsoidal Model Network) entworfen. Dieser basiert einerseits auf der Verwendung einer ellipsoiden Kartierungsmethode mit einer neu entwickelten ellipsoiden Metrik zur Repräsentation des Prozeßzustandsraumes. Andererseits erlaubt die ellipsoide Karte die Zuordnung lokaler Modelle zu einzelnen Zustandsraumbereichen, wobei fast beliebige Modelltypen genutzt werden können. Dank des hierfür entworfenen intelligenten Modellsektionsverfahrens ist eine lokale Anpassung der Modellkomplexität an die Prozeßkomplexität möglich. Mit der Verfügbarkeit von LEMON stellt sich die Frage nach geeigneten Filteralgorithmen, um auch verrauschte Daten mit Ausreißern und Sprüngen im Nutzanteil des Eingabesignals behandeln zu können. Hierzu wird eine neue Art von Regressionsfilter entworfen, der mit Hilfe einer ebenfalls neu entwickelten Sprungerkennung einzelne Ausreißer von tatsächlichen Sprüngen der Originaldynamik trennt. Ein Vergleich des entwickelten Filterverfahrens mit klassischen Filtern und die Präsentation verschiedener Simulationsergebnisse von LEMON schließen diese Arbeit ab.},
  Keywords                 = {Modellbildung; Modellanalyse; Lokale Modelle; Regelungstechnik; Neuronale Netze; Ellipsoid; knn; Filter},
  Owner                    = {Georg},
  Url                      = {http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:91-diss2000022516657}
}

@Article{Tarbouriech2009,
  Title                    = {Anti-windup design: an overview of some recent advances and open problems},
  Author                   = {Tarbouriech, S. and Turner, M.},
  Journal                  = {Control Theory Applications, IET},
  Year                     = {2009},

  Month                    = {January},
  Number                   = {1},
  Pages                    = {1-19},
  Volume                   = {3},

  Abstract                 = {The anti-windup technique which can be used to tackle the problems of stability and performance degradation for linear systems with saturated inputs is dealt with. The anti-windup techniques which can be found in the literature today have evolved from many sources and, even now, are diverse and somewhat disconnected from one another. In this survey, an overview of many recent anti-windup techniques is provided and their connections with each other are stated. The anti-windup technique is also explained within the context of its historical emergence and the likely future directions of the field are speculated. The focus is on so-called dasiamoderndasia anti-windup techniques which began to emerge during the end of the 20th century and which allow a priori guarantees on stability to be made. The survey attempts to provide constructive LMI conditions for the synthesis of anti-windup compensators in both global and local contexts. Finally, some interesting extensions and open problems are discussed, such as nested saturations, the presence of time delays in the state or the input, and anti-windup for non-linear systems.},
  Doi                      = {10.1049/iet-cta:20070435},
  ISSN                     = {1751-8644},
  Keywords                 = {control system synthesis;delays;linear matrix inequalities;linear systems;nonlinear control systems;stability;anti-windup design;anti-windup technique;constructive LMI conditions;linear matrix inequality;linear systems;nonlinear systems;stability;time delays},
  Owner                    = {Georg}
}

@Article{Utkin1977,
  Title                    = {Variable structure systems with sliding modes},
  Author                   = {Utkin, V.},
  Journal                  = {Automatic Control, IEEE Transactions on},
  Year                     = {1977},

  Month                    = {Apr},
  Number                   = {2},
  Pages                    = {212-222},
  Volume                   = {22},

  Abstract                 = {Variable structure systems consist of a set of continuous subsystems together with suitable switching logic. Advantageous properties result from changing structures according to this switching logic. Design and analysis for this class of systems are surveyed in this paper.},
  Doi                      = {10.1109/TAC.1977.1101446},
  ISSN                     = {0018-9286},
  Keywords                 = {Bibliographies;Linear systems;Nonlinear systems;Regulators;Switched systems;Asymptotic stability;Control systems;Eigenvalues and eigenfunctions;Helium;Laboratories;Logic design;Regulators;State feedback;Switches;Variable structure systems},
  Owner                    = {Georg}
}

@Article{Wang2010,
  Title                    = {Fast Model Predictive Control Using Online Optimization},
  Author                   = {Yang Wang and Boyd, S.},
  Journal                  = {Control Systems Technology, IEEE Transactions on},
  Year                     = {2010},

  Month                    = {March},
  Number                   = {2},
  Pages                    = {267-278},
  Volume                   = {18},

  Abstract                 = {A widely recognized shortcoming of model predictive control (MPC) is that it can usually only be used in applications with slow dynamics, where the sample time is measured in seconds or minutes. A well-known technique for implementing fast MPC is to compute the entire control law offline, in which case the online controller can be implemented as a lookup table. This method works well for systems with small state and input dimensions (say, no more than five), few constraints, and short time horizons. In this paper, we describe a collection of methods for improving the speed of MPC, using online optimization. These custom methods, which exploit the particular structure of the MPC problem, can compute the control action on the order of 100 times faster than a method that uses a generic optimizer. As an example, our method computes the control actions for a problem with 12 states, 3 controls, and horizon of 30 time steps (which entails solving a quadratic program with 450 variables and 1284 constraints) in around 5 ms, allowing MPC to be carried out at 200 Hz.},
  Doi                      = {10.1109/TCST.2009.2017934},
  ISSN                     = {1063-6536},
  Keywords                 = {control engineering computing;optimisation;predictive control;table lookup;lookup table;model predictive control;online optimization;slow dynamics;Model predictive control (MPC);real-time convex optimization},
  Owner                    = {Georg}
}

@Article{Weilkes05,
  Title                    = {Zuk{\"u}nftige Fahrzeugf{\"u}hrungsassistenz - Kombinierte L{\"a}ngs- und Querregelung (Future Vehicle Guidance Assistance - Combined Longitudinal and Lateral Control)},
  Author                   = {Michael Weilkes and Lutz B{\"u}rkle and Tobias Rentschler and Michael Scherl},
  Journal                  = {Automatisierungstechnik},
  Year                     = {2005},
  Number                   = {1},
  Pages                    = {4-10},
  Volume                   = {53},

  Abstract                 = {Die Erweiterung der vom ACC bekannten Längsführungsunterstützung bis hin zum Stillstand unter Einbeziehung einer Querführungsunterstützung bringt nicht nur Vorteile für die Fahrerentlastung, sondern kann durch die Vernetzung der Unterstützungszweige auch die Einzelfunktionalität verbessern bzw. transparenter machen. Zwei mögliche Stufen einer Kombination, die unterschiedliche Automatisierung im niedrigen Geschwindigkeitsbereich bieten, werden dargestellt. Für die Querführung wird ein Grundkonzept, das sowohl die autonome wie eine durch Führungsmomente unterstützende Querführung ermöglicht, dargestellt und zwei verschiedene Querregelungsansätze verglichen.},
  Bibsource                = {DBLP, http://dblp.uni-trier.de},
  Doi                      = {10.1524/auto.53.1.4.56698},
  Ee                       = {http://dx.doi.org/10.1524/auto.53.1.4.56698},
  Owner                    = {Georg},
  Timestamp                = {2012.11.27}
}

@InProceedings{Werling,
  Title                    = {Kombinierte Brems-Ausweich-Assistenz mittels nichtlinearer modellprädiktiver Trajektorienplanung für den aktiven Fußgängerschutz},
  Author                   = {Werling, Moritz and Reinisch, Philipp and Gresser, Klaus},
  Booktitle                = {8. Workshop Fahrerassistenzsysteme},
  Year                     = {2012},
  Pages                    = {77-86},

  Abstract                 = {Wird ein die Fahrbahn kreuzender Fußgänger erst sehr spät detektiert, kann insbesondere bei höheren Fahrzeuggeschwindigkeiten die Kollision oft nur noch durch ein Ausweichmanöver verhindert werden. Aufgrund des hohen Verletzungsrisikos des Fußgängers ist es in solchen Fällen dennoch wichtig, durch Bremsen möglichst viel Fahrzeuggeschwindigkeit abzubauen. Hierdurch kommt die nichtlineare Kopplung der Fahrzeugquer- und -längsdynamik zum Tragen, welche bei der Planung eines automatischen Brems-Ausweich-Manöver berücksichtigt werden muss. Zusätzlich erschweren die beschränkte Aktordynamik und der verfügbare Verkehrsraum die Online-Trajektorienplanung. Aus diesem Grund wird im vorliegenden Beitrag die Aufgabe der Online-Trajektorienplanung als restringiertes Optimalsteuerproblem formuliert, welches mittels der Methode der nichtlinearen modellprädiktiven Regelung schritthaltend gelöst wird. Der Funktionsnachweis erfolgt simulativ anhand eines nichtlinearen Zweispurmodells mit längs-quer-gekoppelter Reifendynamik.},
  Keywords                 = {Aktiver Fußgängerschutz, kombinierte Brems-Ausweich-Assistenz, Trajektorienplanung, nichtlineare modellprädiktive Regelung},
  Owner                    = {Georg},
  Timestamp                = {2015.02.12},
  Url                      = {http://www.uni-das.de/documents/FAS2012/Tagungsband_FAS2012.pdf}
}

@Patent{Wintermantel2010,
  Title                    = {Beam sensor system e.g. radio detection and ranging system, for driver assistance system of motor vehicle, has signal processing units processing received signals, where system evaluates intensity of received reflections of objects},
  Number                   = {DE102008052246 (A1)},
  Year                     = {2010},
  Assignee                 = {ADC Automotive Distance Control Systems GmbH},
  Author                   = {Wintermantel, Markus},
  Language                 = {de},
  Month                    = apr,
  Url                      = {http://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20100422&DB=&locale=&CC=DE&NR=102008052246A1&KC=A1&ND=1},

  Abstract                 = {\#CMT\# \#/CMT\# The system has an antenna arrangement for radiation of transmitting signals and receiving the transmitting signals reflected at stationary objects. Signal processing units process the received signals, where the system continuously or discretely and temporarily changes elevation jet direction over a preset range. The direction is determined by jet characteristics of the antenna arrangement, where the system evaluates the intensity of received reflections of the stationary objects based on the direction. A subreflector (13) is operated as a polarizator and is provided with a metallic grid (14). \#CMT\#USE : \#/CMT\# Beam sensor system e.g. light detection and ranging (LIDAR) system and radio detection and ranging (RADAR) system, for a driver assistance system of a motor vehicle, for detecting surrounding field and vertical position of a stationary object e.g. object on road surface such as pedestrian and article i.e. lamp, and object above road surface such as bridge, traffic sign and tunnel slab (all claimed). \#CMT\#ADVANTAGE : \#/CMT\# The utilization of the signal processing units enables determination of whether the intensity of the reflection of the stationary objects has significantly increased, thus enabling differentiation of the stationary objects on and above the road surface and increasing the accuracy of the measurement. \#CMT\#DESCRIPTION OF DRAWINGS : \#/CMT\# The drawing shows a cross sectional view of an antenna arrangement of a radar system. 11 : Waveguide 13 : Subreflector 14 : Metallic grid 15 : Main reflector 17 : Pivot point 19 : Stepper motor.},
  Owner                    = {Georg}
}

@Article{Young1999,
  Title                    = {A control engineer's guide to sliding mode control},
  Author                   = {Young, K.D. and Utkin, V.I. and Ozguner, U.},
  Journal                  = {Control Systems Technology, IEEE Transactions on},
  Year                     = {1999},

  Month                    = {May},
  Number                   = {3},
  Pages                    = {328-342},
  Volume                   = {7},

  Abstract                 = {Presents a guide to sliding mode control for practicing control engineers. It offers an accurate assessment of the so-called chattering phenomenon, catalogs implementable sliding mode control design solutions, and provides a frame of reference for future sliding mode control research},
  Doi                      = {10.1109/87.761053},
  ISSN                     = {1063-6536},
  Keywords                 = {Lyapunov methods;continuous time systems;control engineering;control nonlinearities;discrete time systems;observers;robust control;sampled data systems;variable structure systems;chattering phenomenon;control engineer's guide;design solutions;future research;sliding mode control;Catalogs;Control systems;Design engineering;Design methodology;Feedback;Manifolds;Robust control;Sliding mode control;Switches;Variable structure systems},
  Owner                    = {Georg}
}

@Book{Zeidler2013,
  Title                    = {Springer-Taschenbuch der Mathematik},
  Author                   = {Zeidler, Eberhard},
  Editor                   = {Zeidler, Eberhard},
  Publisher                = {Springer Fachmedien Wiesbaden},
  Year                     = {2013},

  Doi                      = {10.1007/978-3-8348-2359-5},
  Owner                    = {Georg},
  Timestamp                = {2015.02.13},
  Url                      = {http://dx.doi.org/10.1007/978-3-8348-2359-5_7}
}

@Article{Zeitz2010,
  Title                    = {Differenzielle Flachheit: Eine nützliche Methodik auch für lineare {SISO}-Systeme},
  Author                   = {Zeitz, Michael},
  Journal                  = {at - Automatisierungstechnik},
  Year                     = {2010},

  Month                    = {Jan},
  Number                   = {1},
  Pages                    = {5-13},
  Volume                   = {58},

  Abstract                 = {Für lineare Systeme ist die differenzielle Flachheit gleichbedeutend mit der Steuerbarkeit und damit einfacher als im nichtlinearen Fall festzustellen. In diesem Beitrag wird für lineare SISO-Systeme gezeigt, wie die differenzielle Flachheit bei der Trajektorienplanung, dem Vorsteuerungs-Entwurf und der Synthese von Folgeregelungen in den Koordinaten der Regelungs-Normalform angewendet wird. In Anbetracht der praktischen Relevanz einer Folgeregelung mit Vorsteuerung und der leichten Vermittelbarkeit der linearen Flachheits-Methodik sprechen viele Argumente für eine Behandlung in der regelungstechnischen Ausbildung.},
  Doi                      = {10.1524/auto.2010.0815},
  ISSN                     = {0178-2312},
  Keywords                 = {Differenzielle Flachheit, lineare SISO-Systeme, flacher Ausgang, Regelungs-Normalform, flacher Eingang, Vorsteuerung, Zwei-Freiheitsgrad-Regelkreisstruktur
Differential flatness, linear SISO systems, flat output, controller normal form, flat input, feedforward control, two-degree-of-freedom control scheme},
  Owner                    = {Georg},
  Publisher                = {Walter de Gruyter GmbH},
  Timestamp                = {2015.08.18},
  Url                      = {http://dx.doi.org/10.1524/auto.2010.0815}
}

@InProceedings{6722462,
  Title                    = {Dynamic Trajectory Planning for Vehicle Autonomous Driving},
  Author                   = {Sumin Zhang and Weiwen Deng and Qingrong Zhao and Hao Sun and Litkouhi, B.},
  Booktitle                = {Systems, Man, and Cybernetics (SMC), 2013 IEEE International Conference on},
  Year                     = {2013},
  Month                    = {Oct},
  Pages                    = {4161-4166},

  Abstract                 = {Trajectory planning is one of the key and challenging tasks in autonomous driving. This paper proposes a novel method that dynamically plans trajectories, with the aim to achieve quick and safe reaction to the changing driving environment and optimal balance between vehicle performance and driving comfort. With the proposed method, such complex maneuvers can be decomposed into two sub-maneuvers, i.e., lane change and lane keeping, or their combinations, such that the trajectory planning is generalized and simplified, mainly based on lane change maneuvers. A two fold optimization-based method is proposed for stationary trajectory planning as well as dynamic trajectory planning in the presence of a dynamic traffic environment. Simulation is conducted to demonstrate the efficiency and effectiveness of the proposed method.},
  Doi                      = {10.1109/SMC.2013.709},
  Keywords                 = {automobiles;mobile robots;optimisation;path planning;road traffic;trajectory control;complex maneuver;driving comfort;dynamic traffic environment;dynamic trajectory planning;lane change maneuver;lane keeping;stationary trajectory planning;two fold optimization-based method;vehicle autonomous driving;vehicle performance;Acceleration;Kinematics;Planning;Roads;Trajectory;Vehicle dynamics;Vehicles;autonomous driving;dynamic trajectory planning;vehicle models},
  Owner                    = {Georg}
}

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